CN104364831B - For making automobile approaching characteristic adapt to the method and system of traffic signals equipment and the use of the system - Google Patents
For making automobile approaching characteristic adapt to the method and system of traffic signals equipment and the use of the system Download PDFInfo
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- CN104364831B CN104364831B CN201380031588.0A CN201380031588A CN104364831B CN 104364831 B CN104364831 B CN 104364831B CN 201380031588 A CN201380031588 A CN 201380031588A CN 104364831 B CN104364831 B CN 104364831B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 72
- 230000002123 temporal effect Effects 0.000 claims abstract description 27
- 230000007613 environmental effect Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 10
- 238000010295 mobile communication Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 7
- 230000006978 adaptation Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010001488 Aggression Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000016571 aggressive behavior Effects 0.000 description 1
- 208000012761 aggressive behavior Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003556 assay Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- 238000012795 verification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of method for being used to make automobile (1) approaching characteristic adapt to traffic signals equipment (2), in the method, the traffic signals equipment (2) allows by a first state and no thoroughfare in the second state.By automobile (1) to the status information and temporal information of X communication part reception traffic signals equipment (2) and signal lamp state accessory system is delivered to using car.Surrounding automobile (4,5), including at least position data existence information of the driving to X communication can be entered by also being received by automobile (1).Additionally self-position is determined using positioning element.The method is characterized by shown the position data received using car to X communication to driver and match approaching characteristic with that can not enter presence of the driving to surrounding's automobile of X communication according to status information and temporal information.The invention further relates to the use of a kind of corresponding system and the system.
Description
Technical field
It is used to automobile approaching characteristic (Anfahrverhalten) is adapted to traffic signals equipment the present invention relates to one kind
Method, it is a kind of for the use of the system and the system that make automobile approaching characteristic adapt to traffic signals equipment.
Background technology
By different driver assistance system known in the art, they are often used not only for driver's Reduction of Students' Study Load, and
Also traffic flow is influenceed as follows, can realize steady and stable driving mode.This not only improves the security in road traffic,
And also contribute to, reduce fuel consumption and therefore reduce CO2Discharge.Thus especially in the urban area of magnitude of traffic flow increase
More efficient and more environment-friendly traffic control can be realized.One example of this driver assistance system is so-called traffic
Lamp state is aided in, and it is fixed according to a large amount of cars that introduce that are standardized in endeavoured at present to being used as in advance when X communication (" V2X " is communicated)
Part performed in all new cars.
A kind of method and a device are disclosed in the A1 of DE 10 2,007 048 809, for identifying in road traffic
The object of middle covering.Transmitted herein using sensor detection motor vehicle environment and followed by the interface of vehicle-to-vehicle communication corresponding
Information is on the automobile in regional environment.The information of transmission is used to expand area by surrounding automobile receiver and by these automobiles
Domain environmental model.In addition perform the status analysis of the regional environment model so expanded and evaluate the situation of itself automobile.
The A1 of DE 10 2,008 060 869 describe a kind of method and a kind of device, for aiding in setting close to traffic signals
Standby vehicle operator.Traffic signals equipment has two different running statuses, wherein allowing to get in the first operational state
Stop line is crossed, does not allow to cross stop line in the second running status.The signal of automobile receiver one, the signal description traffic signals
The current operating conditions of equipment and the duration until converting running status.Automobile by means of reception signal verification,
During traffic signals equipment is located at the first running status, set so that whether the speed in given speed scope can reach traffic signals
Standby stop line.Car speed is influenceed according to assay or suggested to driver, for corresponding affecting on speed.
Existing defects in signal lamp state auxiliary known in the prior art, because it was assumed that, it is all to be located at regional environment
The automobile of the inside can receive, send and handle car and X information as this car.But in fact it is being not usually this feelings
Condition.Therefore, follow the automobile equipped with signal lamp state auxiliary and cannot be used for follow automobile of the car to X communication, can not often manage
Preceding car is solved towards the approaching characteristic of traffic signals equipment.This is for following the driver of automobile to cause indignation until mistake
Swash the different of behavior and misread reaction.
The content of the invention
Therefore it is an object of the present invention to suggest a kind of method, its signal lamp state accessory system so known to improvement,
Make can not enter driving to X communication follow automobile or be not equipped with signal lamp state accessory system follow automobile not by equipped with
The approaching characteristic of the preceding car of signal lamp state auxiliary hinders.
This purpose passes through the method for enabling automobile approaching characteristic to adapt to traffic signals equipment according to the present invention
Realize.
According to the present invention be used for automobile approaching characteristic is adapted in the method for traffic signals equipment, traffic letter
Number equipment allows by a first state and no thoroughfare in the second state, and according to the above method, car is utilized by automobile
The status information of traffic signals equipment is received to X communication part and temporal information and is delivered to signal lamp state accessory system.
The status information describes the standing state of traffic signals equipment, and temporal information description is until traffic signals equipment
The time window of state transformation.Also received by automobile can enter driving to X communication it is surrounding's automobile, including at least position data
Existence information.Additionally automobile self-position is determined using positioning element.The method is characterized by show profit to driver
The position data that is received with car to X communication and according to status information and temporal information and can not enter driving to X communication around
The presence matching approaching characteristic of automobile.Advantage thus achieved is that towards traffic signals equipment approaching characteristic not only and firmly
Property according to the status information and temporal information of reception determine.But by considering that surrounding automobile of the driving to X communication can not be entered
When matching automobile approaching characteristic, it is contemplated that due to undesirable approaching characteristic of the driving to the automobile of X communication can be entered, it is impossible to
Entering driving may be stung to fury to the driver of surrounding's automobile of X communication.Driving can not be entered to surrounding's automobile of X communication by driver
Recognize, they are not displayed to driver, but still exist.Therefore to be shown to driver's and necessary by driver
When additional surrounding's automobile for feeling be starting point, driver can be for example in suitably consideration status information and temporal information
Under the conditions of approaching characteristic is suitably adapted to traffic signals equipment.
Equally can and preferably, driver using input, for example using operating buttons or using phonetic entry to automobile
Show that presence can not enter surrounding automobile of the driving to X communication.Can be performed automatically by automobile in this case makes automobile approaching
Characteristic adapts to traffic signals equipment because automobile have for this it is all according to the necessary information of the present invention.
Because signal is also always equipped with to the new cars of X communication according to following driving that can enter of the standardization currently endeavoured
Lamp state accessory system, so driving can not be entered to the automobile of X communication and be not equipped with signal lamp state auxiliary system by especially distinguishing
What the automobile of system was not required in the sense of the present invention.
Existence information in the sense of the present invention is preferably so-called " cooperation awareness information " (CAM), and it can be entered by each
Drive a vehicle and the automobile of X communication sent periodically, and except the position data of automobile in addition to generally also including identification information and
Velocity information and directional information if necessary.
In addition to status information and temporal information, the road on extending to traffic signals equipment from automobile is preferably also transmitted
Geography information.This information can be equally used for matching approaching characteristic.
If this traffic signals equipment has suitable car to X communication facility, the status information, temporal information and
Information geographical on road if necessary can for example be directly transmitted by traffic signals equipment.These information can also alternatively be made
By locality, database being attached to traffic signals equipment or remote central database carried using suitable communication component
For.
Traffic signals equipment often not only has two different states (green light and red light), and has three kinds of states
(green light, red light and amber light), traffic signals equipment can take up three kinds of states.The third state (amber light) typicallys represent first herein
With the intermediateness between the second state.As long as traffic signals equipment, which has, is more than two states, status information and temporal information
It is preferred that the third state is also described.Not only itself it is described individually and independently with the first and second states in this third state,
And as the part of the first or second state.In the latter case, state " amber light " may also for example be described as shape
State " red light ".
Advantageously provide for, by automobile auxiliary using environmental sensor detection surrounding automobile position data and if its
Position data detects just with environmental sensor, then automatically identifies surrounding automobile as that can not enter driving to X communication.Thus
To the advantages of be that can not only show to enter driving to driver to the surrounding's automobile or its position data of X communication, and
Also display can not enter surrounding automobile or its position data of the driving to X communication.This improves crew comfort and matched
Driver is additionally aided in during approaching characteristic.
Preferably provide：If surrounding automobile of the driving to X communication can not be entered by not identifying, selection one is metastable
Approaching characteristic；And if identify it is at least one can not enter driving to surrounding's automobile of X communication, then select sailing for relative dynamic
Nearly characteristic.Advantage thus achieved is that only exist can enter driving to automobile around X communication in the case of can realize phase
To environmental-friendly and efficient driving mode, because approaching characteristic can adapt to the state of traffic signals equipment as optimally as possible.
But if surrounding automobile of the driving to X communication can not be entered by also identifying, then consider a kind of situation：Driving can not be entered to X communication
Surrounding's automobile driver, due to their unknown status informations and temporal information, so can not perform as optimally as possible
Adapt to the approaching characteristic of traffic signals equipment state.This may cause different angry for the driver for following automobile
Until the misunderstanding of aggressive behavior is reacted.By selecting dynamic approaching characteristic to trade off, it not only considers traffic signals equipment shape
State, and avoid enraging the driver of automobile around.
It is interpreted as the approaching characteristic of constant speed as far as possible according to the present invention for term " stable approaching characteristic ", and term
" dynamic approaching characteristic " describes a kind of approaching characteristic according to the present invention, and it is since higher speed, with becoming closer to
Close to traffic signals equipment towards lower velocity variations, particularly preferably set wherein slowing down with becoming closer to traffic signals
The standby amplitude that becomes is bigger, and particularly preferably only becomes closer to traffic signals equipment and just start.
Provide in another preferred embodiment, only according to the surrounding's automobile adaptation approaching characteristic for following this automobile, wherein
The relative position of surrounding automobile and this automobile is determined by self-position and position data.Advantage thus achieved is that special basis
The surrounding's automobile for the approaching characteristic that their own may be influenceed due to the approaching characteristic of this automobile matches to approaching characteristic.Example
Automobile will not may be towards traffic signals due to this automobile around such as in this automobile traveling ahead or on another track
Slowly approaching also forces its speed slow to equipment, and therefore without considering when matching approaching characteristic.
But this automobile traveling ahead and with than automobile around this automobile lower speed under all situations it is total
It is at least it is considered that making approaching characteristic only be matched with this degree, so as to avoid bumping against the vapour around this automobile traveling ahead
Car.
Advantageously provide for, the driver of this automobile is shown, if surrounding vapour of the driving to X communication can not be entered by identifying
Car, and especially, if identify follow this automobile, surrounding automobile of the driving to X communication can not be entered.Therefore driver is always
It is known, and if if necessary around which automobile can not enter driving to X communication and he can be better carried out in itself approaching spy
Property adaptation.
It is also advantageous that by approaching characteristic using the recommendation that vision and/or sound and/or tactile are carried out to driver or
Person is matched using autonomous cruise control.In the first scenario, approaching characteristic is also controlled by driver, for driving
The recommendation of approaching characteristic is only provided for member.Thus driver is made to keep monitoring its automobile completely.On the contrary, in latter event
Lower progress autonomous cruise control, this contributes to driver to lighten the burden and generally realized relatively evenly and more controlled approaching is special
Property.
Preferably provide, the self-adapting type cruise of intelligence is controlled and/or used as environmental sensor for autonomous cruise
Control system.The example of the self-adapting type cruise control system of intelligence is so-called " adaptive learning algorithms " system (ACC), it
Perform the intervention controlled motor-and brake and pass through radar or/and infrared sensor or/and the camera of plane or solid
Sensor determines the distance with surrounding's automobile of traveling ahead.Because this system in current automobile often in bulk
In the presence of so saving additional mounting cost and the related cost for autonomous cruise control or environmental sensor.But
Region environmentally sensitive device is supplemented particular preferably by other environmental sensors.
The invention further relates to a system for making the approaching characteristic of automobile adapt to traffic signals equipment, and it includes handing over
Messenger equipment and surrounding automobile and this automobile, wherein this automobile include car to X communication part and positioning element and signal lamp
State accessory system.The traffic signals equipment allows in a first state by and no thoroughfare in the second state.This
Automobile to the status information and temporal information of X communication part reception signal lamp status system and continues them to transmit using car
To signal lamp accessory system, wherein status information describes the standing state of traffic signals equipment, and temporal information description until
The time window of traffic signals equipment state conversion.This automobile also receive can enter driving to X communication it is surrounding's automobile, at least wrap
Include the existence information of position data.Self-position is determined using positioning element this automobile auxiliary.The system is characterised by,
The display unit is shown the position data that is received to X communication using car to driver and according to status information and temporal information
Make approaching characteristics match with presence of the driving to surrounding's automobile of X communication can not be entered.Include institute thus in accordance with the system of the present invention
There is required part and the permission for being used to perform the method according to the present invention, according to surrounding vapour of the driving to X communication can not be entered
Car matches automobile towards the approaching characteristic of traffic signals equipment.Thus the advantages of obtaining having been noted above.
Advantageously provide for, the automobile includes environmental sensor and additionally utilizes environmental sensor detection surrounding automobile
Position data.Thus, it is possible to which also directly detection can not enter driving to surrounding's automobile of X communication and be shown to driver.This is carried
High crew comfort and help to make driver lighten the burden as far as possible.
It is also advantageous that the car to X communication part with connection class of the one or more from the group including following
Do not sent based on and/or receive information, the group include：
- WLAN connections, especially according to IEEE802.11；
- ISM- connections (industrial scientific medical frequency band)；
-- connection；
- ZigBee- connections；
- UWB connections (ultra wide band)；
-- connection (micro-wave access global inter communication)；
- infrared connection, and
- wireless mobile communications connect.In this car are provided to these connection classifications of X communication part the advantages of different and lacked
Fall into.WLAN connections can for example realize high message data rate and quickly establish connection.And ISM connections only provide lower data
Transmission rate, but it is relative more suitable for transmitting data around sight obstruction.Infrared connection similarly provides low data transfer
Speed.Finally, wireless mobile communications connection will not by sight obstruction adverse effect and preferable data are additionally provided
Transfer rate.But its connection foundation is relatively slow for this.By combination and simultaneously or parallel using multiple such connection classes
Further advantage is not obtained, because it is possible thereby to the defects of compensating each connection classification.
It is also advantageous that the environmental sensor is with categories of sensors of the one or more from the group including following
Based on test position data, described group includes：
- radar sensor；
- optical camera sensor；
- laser radar sensor；
- laser sensor, and
- ultrasonic sensor forms.The categories of sensors is related in the typically used as sensor of automotive field, they
Substantially it comprehensively can detect and identify automobile regional environment.Current many automobiles are equipped with the sensor according to standard
Multiple sensors of classification and this quantity will most probably continue to increase in future.Therefore in order to inside motor vehicle perform according to
The additional mounting cost and cost of the inventive method are pettiness.
Preferably provide, the system performs the method according to the present invention.
The invention further relates to the system used in the car according to the present invention.
Brief description of the drawings
Other preferred embodiments provide by dependent claims and below by way of the embodiment description of accompanying drawing.
Accompanying drawing is shown
Fig. 1 traffic schematic diagrames, wherein an automobile is close to traffic signals equipment, and
Fig. 2 runs the flow chart of form according to the possibility of the method for the present invention.
Embodiment
In Fig. 1 it can be seen that automobile 1, it is furnished with according to the present invention for making the approaching characteristic of automobile be set with traffic signals
The system of standby 2 adaptation.Traffic signals equipment 2 is currently located at red light phase, and its auto Not Permitted 1 passes through traffic signals equipment 2.To handing over
Messenger equipment 2 sets up stop line 3, and it describes the halt for the automobile close to traffic signals equipment 2, if traffic signals
When equipment 2 is located at state red light.Automobile 1 receives the status information of traffic signals equipment 2 and temporal information and makes these
Information uses for the signal lamp accessory system of automobile side.Signal lamp aided system evaluation status information and temporal information and know
Not, if automobile 1 makes its approaching characteristics match in a manner of reducing actual speed, the horse back of traffic signals equipment 2 faces
Transition status is to state green light and can pass through stop line 3 without the ground that stops.In addition, pass through the thunder being arranged on behind automobile 1
Automobile 4 is detected up to sensor.Because car can not be utilized to receive existence information to X communication by automobile 4, recognize, automobile 4 is not
Driving can be entered to X communication and therefore do not know about the temporal information of traffic signals equipment 2.Because the driver of automobile 4 clearly sees
To traffic signals equipment 2, so he necessarily recognizes the current state of traffic signals equipment 2.The pre-decelerating of automobile 1 will cause
The driver of automobile 4 is angry, because this driver for his unknown temporal information due to not being understood that automobile 1 towards traffic
The approaching characteristic of signalling arrangement 2.Automobile 5 is also detected by camera sensor, it over there on track with 1 opposite row of automobile
Sail.Existence information is additionally received by automobile 5, thus recognized, automobile 5 can enter driving to X communication.But automobile 5 is located at
On opposing lane and driving can also be entered to X communication, therefore traffic signals identification 2 is adapted to not for the approaching characteristic of automobile 1
Continue with automobile 5.The status information and temporal information correspondingly not only received in consideration, and consider to enter driving to X
The automobile 4 of communication it is existing under the conditions of pass through optical display and export dynamic approaching to the driver of automobile 1 and recommend.Dynamically
Approaching recommend regulation, the speed slowly to reduce passes through close to traffic signals equipment 2 thus, it is possible to be realized in state green light
Traffic signals equipment 2, while the approaching characteristic for avoiding passing through automobile 1 enrages the driver of automobile 4.
Figure 2 illustrates illustratively perform according to the present invention for making automobile approaching characteristic adapt to traffic signals equipment
Method flow chart.In method and step 6, by automobile using car to X communication receive traffic signals equipment status information and
Temporal information.Determine the self-position of automobile using the positioning element of gps receiver form in step 7 simultaneously, it is sharp in step 8
With environmental sensor detection surrounding automobile position data, and be equally parallel with time in method and step 9 by
Automobile is received using car to X communication part can enter existence information of the driving to surrounding's automobile of X communication.Distinguish in this existence information
Include the position data of automobile around, the position data is sent by automobile around.In method and step 10 transmission state information and
Temporal information is handled to signal lamp state accessory system and by it.By the position data including existence information and utilize ring
The position data of border sensor detection is in method and step 12 by be cannot be used for just with environmental sensor detection into driving
Automobile, which cannot be used for into driving to X communication, around which is identified to the position of surrounding's automobile of X communication.In a step 11, by true
Fixed automobile self-position and the position data detected by environmental sensor determine the relative position of surrounding automobile and this automobile.
Finally, in method step 13, consider status information, temporal information and follow this automobile, be not used in car to week of X communication
Under conditions of enclosing automobile, automobile approaching characteristic is set to adapt to traffic signals equipment.
Claims (13)
1. one kind is used to make the method that the approaching characteristic of automobile (1) adapts to traffic signals equipment (2),
- in the process, traffic signals equipment (2) allows by and forbids leading in the second state in a first state
Cross,
- in the process, receive the status information of traffic signals equipment (2) to X communication part using car by the automobile (1)
With temporal information and pass it to signal lamp state accessory system,
- wherein, the status information describes the standing state of traffic signals equipment, and temporal information description is until traffic
The time window of the state transformation of signalling arrangement (2),
- in the process, also received by the automobile (1) can enter driving to the surrounding's automobile (4,5) of X communication including
The existence information of at least one position data, and
- in the process, self-position is determined using positioning element by the automobile (1),
Characterized in that, showing the position data received using car to X communication to driver and according to status information and time
Information and driving can not be entered approaching characteristics match is made to the existence of surrounding's automobile (4,5) of X communication, by the automobile (1)
Additionally using environmental sensor detection surrounding automobile (4,5) position data and if its position data just with environment
Sensor detects, then automatically identifies surrounding automobile as that can not enter driving to X communication, wherein, can not if do not recognized
Enter surrounding automobile (4,5) of the driving to X communication, then select a relatively uniform approaching characteristic, and if recognized at least one
Surrounding automobile (4,5) of the driving to X communication can not be entered, then select the approaching characteristic of relative dynamic.
2. according to the method for claim 1, it is characterised in that only according to follow the automobile (1) surrounding's automobile (4,
5) approaching characteristic is adapted to, wherein determine that surrounding automobile (4,5) is relative with the automobile (1) by self-position and position data
Position.
3. method according to claim 1 or 2, it is characterised in that shown to the driver of the automobile (1), if know
Surrounding automobile (4,5) of the driving to X communication can not be entered by being clipped to.
4. method according to claim 1 or 2, it is characterised in that using to driver carry out vision and/or sound and/
Or tactile recommendation or make approaching characteristics match using autonomous cruise control.
5. according to the method for claim 4, it is characterised in that in order to which autonomous cruise controls and/or as environmental sensor
Use the self-adapting type cruise control system of intelligence.
6. according to the method for claim 3, it is characterised in that the driver of the automobile (1) is shown, if recognize
Follow the automobile (1) can not enter surrounding automobile (4,5) of the driving to X communication.
7. one kind is used to make the system that the approaching characteristic of automobile (1) adapts to traffic signals equipment (2), including traffic signals equipment
(2) and surrounding automobile (4,5) and automobile (1), wherein the automobile (1) includes car to X communication part, positioning element, display
Part and signal lamp state accessory system, wherein the traffic signals equipment (2) allows by and in a first state
No thoroughfare in two-state, wherein the automobile (1) using car to X communication receive traffic signals equipment (2) status information and
Temporal information and signal lamp state accessory system is passed it to, wherein status information describes showing for traffic signals equipment (2)
It is stateful, and temporal information description until the time window of traffic signals equipment (2) state transformation, wherein the automobile (1)
Surrounding automobile (4,5), including at least position data existence information of the driving to X communication can be entered by also receiving, and wherein institute
State automobile (1) and determine self-position using positioning element, it is characterised in that the display unit is shown to driver utilizes car pair
Position data that X communication receives and according to status information and temporal information and driving can not be entered to surrounding's automobile of X communication
The existence of (4,5) makes approaching characteristics match, wherein, environmental sensor detection surrounding vapour is additionally utilized by the automobile (1)
The position data of car (4,5) and if its position data detects just with environmental sensor, then automatically around identification
Automobile is that can not enter driving to X communication, wherein, if surrounding automobile (4,5) of the driving to X communication can not be entered by not recognizing,
Then select a relatively uniform approaching characteristic, and if recognize it is at least one can not enter driving to surrounding's automobile of X communication (4,
5) the approaching characteristic of relative dynamic, is then selected.
8. according to claim 7 be used to make the system that the approaching characteristic of automobile (1) adapts to traffic signals equipment (2),
Characterized in that, the automobile (1) includes environmental sensor and additionally utilizes environmental sensor detection surrounding automobile (4,5)
Position data.
What 9. the approaching characteristic for making automobile (1) according to claim 7 or 8 adapted to traffic signals equipment (2) is
System, it is characterised in that the car is sent to X communication part based on one or more connection classification and/or receive information, institute
Connection classification is stated from the group for including following connection classification：
- WLAN connections；
- ISM- connections；
-Connection；
- ZigBee connections；
- UWB connections；
-Connection；
- infrared connection, and
- wireless mobile communications connect.
What 10. the approaching characteristic for making automobile (1) according to claim 7 or 8 adapted to traffic signals equipment (2) is
System, it is characterised in that environmental sensor test position data based on one or more categories of sensors, the sensing
Device classification is from the group for including following classification：
- radar sensor；
- optical camera sensor；
- laser sensor, and
- ultrasonic sensor.
What 11. the approaching characteristic for making automobile (1) according to claim 7 or 8 adapted to traffic signals equipment (2) is
System, it is characterised in that the system execution basis for being used to make the approaching characteristic of automobile (1) adapt to traffic signals equipment (2)
Method any one of claim 1 to 6.
12. according to claim 9 be used to make the system that the approaching characteristic of automobile (1) adapts to traffic signals equipment (2),
Characterized in that, WLAN connections are the connections according to IEEE802.11.
13. use in the car according to any one of claim 7 to 12 be used for be adapted to the approaching characteristic of automobile (1)
System in traffic signals equipment (2).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012210069.5 | 2012-06-14 | ||
| DE201210210069 DE102012210069A1 (en) | 2012-06-14 | 2012-06-14 | Method and system for adapting a vehicle start-up behavior to a traffic signal system and use of the system |
| PCT/EP2013/062416 WO2013186379A1 (en) | 2012-06-14 | 2013-06-14 | Method and system for adapting the driving-off behavior of a vehicle to a traffic signal installation, and use of the system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104364831A CN104364831A (en) | 2015-02-18 |
| CN104364831B true CN104364831B (en) | 2018-02-09 |
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| CN201380031588.0A Active CN104364831B (en) | 2012-06-14 | 2013-06-14 | For making automobile approaching characteristic adapt to the method and system of traffic signals equipment and the use of the system |
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| US (1) | US9483940B2 (en) |
| EP (1) | EP2862155B1 (en) |
| KR (1) | KR20150023738A (en) |
| CN (1) | CN104364831B (en) |
| DE (1) | DE102012210069A1 (en) |
| WO (1) | WO2013186379A1 (en) |
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| DE102014203983A1 (en) * | 2014-03-05 | 2015-09-10 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for displaying a prohibition and / or bid in an environment with a highly automated moving motor vehicle and a non-highly automated road user |
| DE102014209851A1 (en) * | 2014-05-23 | 2015-11-26 | Continental Automotive Gmbh | Assistance system for a motor vehicle and method for controlling a motor vehicle |
| FR3024256B1 (en) | 2014-07-23 | 2016-10-28 | Valeo Schalter & Sensoren Gmbh | DETECTION OF TRICOLORIC LIGHTS FROM IMAGES |
| DE102015202451B4 (en) | 2015-02-11 | 2024-10-24 | Volkswagen Aktiengesellschaft | Device and method for accelerating a vehicle when starting at a traffic light |
| CN104809915A (en) * | 2015-04-14 | 2015-07-29 | 深圳市润安科技发展有限公司 | Vehicle distance alarming system and method based on ultra-wideband wireless positioning technology |
| DE102015016349B4 (en) | 2015-10-07 | 2023-02-23 | Volkswagen Aktiengesellschaft | Device and method for a driver assistance system for a vehicle and device and method for a control instance for a controllable traffic sign |
| EP3435354A4 (en) * | 2016-03-25 | 2019-11-27 | Hitachi Automotive Systems, Ltd. | Vehicle control device |
| EP3236446B1 (en) * | 2016-04-22 | 2022-04-13 | Volvo Car Corporation | Arrangement and method for providing adaptation to queue length for traffic light assist-applications |
| DE102016005965A1 (en) | 2016-05-13 | 2017-02-16 | Daimler Ag | Method for traffic flow control |
| DE102016208793A1 (en) | 2016-05-20 | 2017-11-23 | Zf Friedrichshafen Ag | Traffic light assistant |
| DE102016212055A1 (en) * | 2016-07-01 | 2018-01-04 | Continental Automotive Gmbh | System for automated driving of a vehicle |
| CN107767679B (en) * | 2016-08-17 | 2021-04-02 | 上海交通大学 | Signal lamp intersection vehicle speed guiding device and method based on special short-range communication |
| DE102016215586A1 (en) | 2016-08-19 | 2018-02-22 | Bayerische Motoren Werke Aktiengesellschaft | Traffic control system with a traffic light having a wireless traffic light transmitter |
| US10276043B2 (en) * | 2016-12-22 | 2019-04-30 | GM Global Technology Operations LLC | Vehicle system using vehicle-to-infrastructure and sensor information |
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| US7419027B2 (en) * | 2005-08-30 | 2008-09-02 | Motorola, Inc. | System and method of increasing safety to occupants in a vehicle |
| US20070200730A1 (en) | 2006-02-27 | 2007-08-30 | Woo Jeon Green Co., Ltd. | Integrated traffic signal, sign and information display device |
| WO2008043795A1 (en) * | 2006-10-13 | 2008-04-17 | Continental Teves Ag & Co. Ohg | Method and apparatus for identifying concealed objects in road traffic |
| US8532862B2 (en) * | 2006-11-29 | 2013-09-10 | Ryan A. Neff | Driverless vehicle |
| DE102008035992A1 (en) * | 2007-08-29 | 2009-03-05 | Continental Teves Ag & Co. Ohg | Traffic light phase assistant supported by environmental sensors |
| WO2009074547A1 (en) | 2007-12-13 | 2009-06-18 | Continental Teves Ag & Co. Ohg | Method and device for assisting a vehicle operator |
| CN101593431A (en) | 2008-05-26 | 2009-12-02 | 奥城同立科技开发（北京）有限公司 | The method of automatically regulating vehicle traffic condition at crossing |
| US8885039B2 (en) * | 2008-07-25 | 2014-11-11 | Lg Electronics Inc. | Providing vehicle information |
| WO2010100759A1 (en) * | 2009-03-06 | 2010-09-10 | トヨタ自動車株式会社 | Vehicle drive support device |
| EP2876621A1 (en) * | 2009-07-28 | 2015-05-27 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device, vehicle control method, and vehicle control system |
| WO2011125185A1 (en) | 2010-04-07 | 2011-10-13 | トヨタ自動車株式会社 | Vehicle driving assistance device |
| US9096228B2 (en) * | 2010-06-23 | 2015-08-04 | Continental Teves Ag & Co. Ohg | Method and system for accelerated object recognition and/or accelerated object attribute recognition and use of said method |
| JP5625603B2 (en) * | 2010-08-09 | 2014-11-19 | トヨタ自動車株式会社 | Vehicle control device, vehicle control system, and control device |
| DE102010039418A1 (en) * | 2010-08-17 | 2012-02-23 | Bayerische Motoren Werke Aktiengesellschaft | Method for controlling starting process of car, involves providing car-to-infrastructure communication device for receiving data from traffic lights, and automatically selecting beginning of acceleration phase based on received data |
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- 2013-06-14 EP EP13730202.2A patent/EP2862155B1/en active Active
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| US20150109147A1 (en) | 2015-04-23 |
| CN104364831A (en) | 2015-02-18 |
| EP2862155A1 (en) | 2015-04-22 |
| EP2862155B1 (en) | 2021-03-17 |
| WO2013186379A1 (en) | 2013-12-19 |
| KR20150023738A (en) | 2015-03-05 |
| US9483940B2 (en) | 2016-11-01 |
| DE102012210069A1 (en) | 2013-12-19 |
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